GB1524622A - Apparatus for sensing objects - Google Patents

Apparatus for sensing objects

Info

Publication number
GB1524622A
GB1524622A GB1491/76A GB149176A GB1524622A GB 1524622 A GB1524622 A GB 1524622A GB 1491/76 A GB1491/76 A GB 1491/76A GB 149176 A GB149176 A GB 149176A GB 1524622 A GB1524622 A GB 1524622A
Authority
GB
United Kingdom
Prior art keywords
probe
manipulator
workpiece
finger
positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
GB1491/76A
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Publication of GB1524622A publication Critical patent/GB1524622A/en
Expired legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive

Abstract

1524622 Manipulators INTERNATIONAL BUSINESS MACHINES CORP 15 Jan 1976 [7 April 1975] 1491/76 Heading B8H [Also in Division G3] A manipulator is positioned by a computer effecting a Boolean-decision logic search procedure in response to signals from contacts 40 A-C, Fig. 1, responsive to movements of a probe 18 mounted in a finger. The probe is extended by a piston and cylinder arrangement 20. For non-contacting operations, such as contouring, restriction, by the workpiece, of flow through a passage 57 is sensed by a semiconductor pressure-sensor 49. The manipulator, Fig. 4A, comprises a rotatable base 106 and pillar 104 on which is mounted positioning arms 66, 93. Gripping fingers 10, 12 are mounted in gimbals for positioning about roll, pitch and yaw axes 72, 68, 70. The probe 18 is mounted with the finger 10 and senses the pressure of a workpiece 48.
GB1491/76A 1975-04-07 1976-01-15 Apparatus for sensing objects Expired GB1524622A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US05/565,930 US4001556A (en) 1975-04-07 1975-04-07 Computer controlled pneumatic retractable search sensor

Publications (1)

Publication Number Publication Date
GB1524622A true GB1524622A (en) 1978-09-13

Family

ID=24260688

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1491/76A Expired GB1524622A (en) 1975-04-07 1976-01-15 Apparatus for sensing objects

Country Status (8)

Country Link
US (1) US4001556A (en)
JP (1) JPS51122255A (en)
CA (1) CA1079834A (en)
CH (1) CH605050A5 (en)
DE (1) DE2614524C3 (en)
FR (1) FR2306798A1 (en)
GB (1) GB1524622A (en)
IT (1) IT1055402B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2132968A (en) * 1983-01-06 1984-07-18 Expert Automation Multi-axis manipulator
GB2549067A (en) * 2016-03-16 2017-10-11 Stour Prec Tools Ltd Weld head manipulator

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US4447697A (en) * 1978-03-28 1984-05-08 Unimation, Inc. Weld gun repositioning system for programmable manipulator
DE2819622A1 (en) * 1978-05-05 1979-11-08 Festo Maschf Stoll G GRIPPING PLIERS FOR MANIPULATORS, ROBOTS OR DGL.
GB2043958B (en) * 1979-02-23 1983-11-09 Hitachi Ltd Door operation control apparatus
FR2451807A1 (en) * 1979-03-22 1980-10-17 Renault SIX AXIS MANIPULATOR
JPS57113116A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
JPS57113115A (en) * 1980-12-30 1982-07-14 Fanuc Ltd Robot control system
US4573129A (en) * 1982-02-25 1986-02-25 Hewlett-Packard Company Automatic pen-sensor
DE3218712C2 (en) * 1982-05-18 1985-05-02 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Two-axis handling device for moving workpieces between any two points in a plane
US4484854A (en) * 1982-08-16 1984-11-27 Anorad Corporation Robotic height sensor in laterally compliant probe
EP0104871B1 (en) * 1982-09-21 1987-07-08 Fujitsu Limited Supporting device
CA1184273A (en) * 1982-09-23 1985-03-19 Kazuyoshi Yasukawa Robot control apparatus
US4481815A (en) * 1982-12-23 1984-11-13 Overton Kenneth J Tactile sensor
JPS59169780A (en) * 1983-03-14 1984-09-25 株式会社日立製作所 Tabular part gripper with sensor
DE3340946A1 (en) * 1983-11-11 1985-05-23 Siemens AG, 1000 Berlin und 8000 München HANDLING DEVICE, IN PARTICULAR INDUSTRIAL ROBOTS, WITH AT LEAST ONE SENSOR
DE3400719A1 (en) * 1984-01-11 1985-07-18 Alkem Gmbh, 6450 Hanau GLOVE BOX
US4533167A (en) * 1984-02-13 1985-08-06 Honeywell Inc. Robotics manipulator with gripping force control means
CA1233222A (en) * 1984-03-09 1988-02-23 Nobuhiko Onda Movable apparatus driving system
EP0173234A1 (en) * 1984-08-24 1986-03-05 The Perkin-Elmer Corporation Robotic grip assembly
FR2580978B1 (en) * 1985-04-30 1990-12-14 Franche Comte Alsace Etu Tech MULTIDIRECTIONAL SAFETY DEVICE FOR MANIPULATORS AND ROBOTS
FR2582563B1 (en) * 1985-05-30 1987-07-24 Centre Nat Rech Scient PNEUMATIC TACTILE GRIPPER DEVELOPING A TIGHTENING FORCE SERVED BY THE WEIGHT OF THE MANIPULATED OBJECT
US4802816A (en) * 1985-10-08 1989-02-07 Excellon Industries Pick and place machine having improved centering jaws
DE3605616A1 (en) * 1986-02-21 1987-08-27 Wittenstein Manfred Drive mechanism for an output flange suitable, in particular, for receiving the gripping tool of a robot
US4680523A (en) * 1986-03-13 1987-07-14 Lord Corporation Apparatus and method for handling articles in automated assembly processes
DE3673021D1 (en) * 1986-10-13 1990-08-30 Etfa Sarl LOCKABLE, MULTI-AXLE JOINT FOR MANIPULATORS.
US4977512A (en) * 1987-02-05 1990-12-11 Shibuya Kogyo Co., Ltd. Three dimensional simultaneous machining and measuring system
DD271077A1 (en) * 1988-03-28 1989-08-23 Adw Ddr Kybernetik Inf PARALLEL GRIPPERS WITH SPINDLE DRIVE AND PRESENCE CONTROL
US5825980A (en) * 1989-05-26 1998-10-20 Canon Kabushiki Kaisha Robot hand structure, and method of selecting hand structure
US5425133A (en) * 1990-01-24 1995-06-13 Canon Kabushiki Kaisha Robot apparatus with an electrical driver for controlling a detachable rotor hand
US5297055A (en) * 1990-04-20 1994-03-22 The Gleason Works Multi-functional measurement system
US5345540A (en) * 1991-07-12 1994-09-06 Hewlett-Packard Company Methods for automatically programming spatial information in robotic systems
US6516248B2 (en) 2001-06-07 2003-02-04 Fanuc Robotics North America Robot calibration system and method of determining a position of a robot relative to an electrically-charged calibration object
CN102059691A (en) * 2009-11-17 2011-05-18 王雪 Master-slave type plastic spraying robot
WO2013134610A1 (en) 2012-03-08 2013-09-12 Quality Manufacturing Inc. Touch sensitive robotic gripper
US9605952B2 (en) 2012-03-08 2017-03-28 Quality Manufacturing Inc. Touch sensitive robotic gripper
KR101382666B1 (en) * 2012-11-26 2014-04-07 양국진 Parallel manipulator
US11327511B2 (en) 2013-05-09 2022-05-10 Terydon, Inc. Indexer, indexer retrofit kit and method of use thereof
US10890390B2 (en) 2013-05-09 2021-01-12 Terydon, Inc. Indexer, indexer retrofit kit and method of use thereof
US11294399B2 (en) 2013-05-09 2022-04-05 Terydon, Inc. Rotary tool with smart indexing
US11360494B2 (en) 2013-05-09 2022-06-14 Terydon, Inc. Method of cleaning heat exchangers or tube bundles using a cleaning station
US10401878B2 (en) 2013-05-09 2019-09-03 Terydon, Inc. Indexer, indexer retrofit kit and method of use thereof
US10718359B2 (en) 2015-08-21 2020-07-21 Quality Manufacturing Inc. Devices and systems for producing rotational actuation
US11460258B2 (en) 2015-10-16 2022-10-04 Peinemann Equipment B.V. System for cleaning an object such as a heat exchanger
US11259920B2 (en) * 2015-11-03 2022-03-01 Edwards Lifesciences Corporation Adapter for prosthesis delivery device and methods of use
CN105382830B (en) * 2015-12-03 2018-02-09 重庆朗正科技有限公司 spindle robot palletizer
US10502509B2 (en) 2016-05-03 2019-12-10 Peinemann Equipment B.V. Method and apparatus for cleaning tubes in a rotary path
US11733720B2 (en) 2016-08-30 2023-08-22 Terydon, Inc. Indexer and method of use thereof
US11300981B2 (en) 2016-08-30 2022-04-12 Terydon, Inc. Rotary tool with smart indexer
US10799312B2 (en) 2017-04-28 2020-10-13 Edwards Lifesciences Corporation Medical device stabilizing apparatus and method of use
WO2020028096A1 (en) * 2018-07-30 2020-02-06 Fresenius Medical Care Holdings, Inc. Valve actuation systems and related methods
US11931525B2 (en) 2018-10-04 2024-03-19 Edwards Lifesciences Corporation Stabilizer for a delivery system
EP3890820A1 (en) 2018-12-07 2021-10-13 Fresenius Medical Care Holdings, Inc. Rotary valves for managing fluid flows in medical systems

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3168203A (en) * 1960-07-07 1965-02-02 Gen Mills Inc Manually operated hydraulic actuator control having feel-back
US3550630A (en) * 1968-01-02 1970-12-29 Ibm Serial-to-parallel hydraulic device
US3770140A (en) * 1969-09-25 1973-11-06 American Ass Cybernetics Sensor responsive cybernetics machine
US3878652A (en) * 1973-06-25 1975-04-22 Robotics Inc Low cost programmable remote control machine tool manipulator having continuous path control

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2132968A (en) * 1983-01-06 1984-07-18 Expert Automation Multi-axis manipulator
GB2549067A (en) * 2016-03-16 2017-10-11 Stour Prec Tools Ltd Weld head manipulator
GB2549067B (en) * 2016-03-16 2021-07-28 Stour Prec Tools Limited Weld head manipulator

Also Published As

Publication number Publication date
IT1055402B (en) 1981-12-21
DE2614524C3 (en) 1980-07-31
FR2306798B1 (en) 1981-06-19
DE2614524B2 (en) 1979-11-15
US4001556A (en) 1977-01-04
CA1079834A (en) 1980-06-17
DE2614524A1 (en) 1976-10-21
FR2306798A1 (en) 1976-11-05
JPS51122255A (en) 1976-10-26
CH605050A5 (en) 1978-09-29

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Legal Events

Date Code Title Description
PS Patent sealed [section 19, patents act 1949]
PCNP Patent ceased through non-payment of renewal fee